Пример #1
0
 void Update()
 {
     UpdateViewAngles();
     if (m_webCamTexture.isPlaying)
     {
         Color32[] colors      = m_webCamTexture.GetPixels32();
         byte[]    gray_colors = new byte[colors.Length];
         for (int i = 0; i < colors.Length; ++i)
         {
             gray_colors[i] = (byte)((colors[i].r + colors[i].g + colors[i].b) / 3);
         }
         TrackingState currentTrackingState = SonarLib.ProcessFrame(gray_colors, m_webCamTexture.width, m_webCamTexture.height);
         UpdatePose(currentTrackingState);
     }
 }
Пример #2
0
    public void ReinitalizeCamera(float horizontalViewAngle)
    {
        if (m_camera == null)
        {
            Debug.LogError("Camera component is found.");
            return;
        }
        m_camera.fieldOfView   = Camera.HorizontalToVerticalFieldOfView(horizontalViewAngle, m_camera.aspect);
        m_focalLength          = 1.0f / (2.0f * Mathf.Tan(horizontalViewAngle * Mathf.Deg2Rad * 0.5f));
        m_cameraImageTransform = cameraImage.GetComponent <RectTransform>();
        float pixelFocalLength      = (float)(m_webCamTexture.width) * m_focalLength;
        bool  successInitialization = SonarLib.InitializeTrackingSystemForPinhole(1, m_webCamTexture.width, m_webCamTexture.height,
                                                                                  new Vector2(pixelFocalLength, pixelFocalLength),
                                                                                  new Vector2(m_webCamTexture.width * 0.5f, m_webCamTexture.height * 0.5f));

        if (!successInitialization)
        {
            Debug.LogError("Sonar reinitialization fail.");
        }
    }
Пример #3
0
    public static bool GetCameraWorldPose(out Quaternion q, out Vector3 position)
    {
        float[] rotationMatrix_data = new float[9];
        float[] position_data       = new float[3];
        bool    successFlag         = false;

        unsafe
        {
            fixed(float *r_ptr = &rotationMatrix_data[0])
            {
                fixed(float *p_ptr = &position_data[0])
                {
                    successFlag = SonarLib.sonar_get_camera_world_pose((System.IntPtr)r_ptr, (System.IntPtr)p_ptr);
                }
            }
        }
        q        = QuaternionFromMatrix(rotationMatrix_data);
        position = new Vector3(position_data[0], position_data[1], position_data[2]);
        return(successFlag);
    }
Пример #4
0
    void Start()
    {
        m_webCamTexture     = new WebCamTexture(WebCamTexture.devices[0].name, 640, 480);
        cameraImage.texture = m_webCamTexture;
        m_webCamTexture.Play();
        m_camera = GetComponent <Camera>();
        m_cameraImageTransform = cameraImage.GetComponent <RectTransform>();
        m_focalLength          = (float)(m_webCamTexture.width);
        if (m_camera == null)
        {
            Debug.LogError("Camera component is found.");
        }
        else
        {
#if UNITY_ANDROID
            m_camera.fieldOfView = Camera.HorizontalToVerticalFieldOfView(65, m_camera.aspect);;
#endif
            float horizontalFieldOfView = Camera.VerticalToHorizontalFieldOfView(m_camera.fieldOfView, m_camera.aspect);
            m_focalLength = 1.0f / (2.0f * Mathf.Tan(horizontalFieldOfView * Mathf.Deg2Rad * 0.5f));
        }
        m_cameraImageTransform = cameraImage.GetComponent <RectTransform>();
        float pixelFocalLength      = (float)(m_webCamTexture.width) * m_focalLength;
        bool  successInitialization = SonarLib.InitializeTrackingSystemForPinhole(1, m_webCamTexture.width, m_webCamTexture.height,
                                                                                  new Vector2(pixelFocalLength, pixelFocalLength),
                                                                                  new Vector2(m_webCamTexture.width * 0.5f, m_webCamTexture.height * 0.5f));
        if (!successInitialization)
        {
            Debug.LogError("Sonar initialization fail.");
        }

        /*var cameraImageTransform = cameraImage.GetComponent<RectTransform>();
         * if (webCamTexture.width > webCamTexture.height)
         * {
         *  cameraImageTransform.localScale = new Vector3(1.0f, (float)(webCamTexture.width) / (float)(webCamTexture.height), 1.0f);
         * }
         * else
         * {
         *  cameraImageTransform.localScale = new Vector3((float)(webCamTexture.height) / (float)(webCamTexture.width), 1.0f, 1.0f);
         * }*/
    }
Пример #5
0
 void UpdatePose(TrackingState trackingState)
 {
     if (trackingState == TrackingState.Tracking)
     {
         Quaternion q;
         Vector3    position;
         SonarLib.GetCameraWorldPose(out q, out position);
         if (lastTrackingsState == TrackingState.Tracking)
         {
             q            = Quaternion.Slerp(q, lastQ, rotationSmooth);
             position     = Vector3.Slerp(position, lastPosition, positionSmooth);
             lastQ        = q;
             lastPosition = position;
         }
         else
         {
             q        = lastQ;
             position = lastPosition;
         }
         transform.localRotation = q;
         transform.localPosition = position;
     }
     lastTrackingsState = trackingState;
 }